Bhagavad Gita Chapter 6.2
yaḿ sannyāsam iti prāhur
yogaḿ taḿ viddhi pāṇḍava
na hy asannyasta-sańkalpo
yogī bhavati kaścana
Translation
What is called renunciation you should know to be the same as yoga, or linking oneself with the Supreme, O son of Pandu, for one can never become a yogi unless he renounces the desire for sense gratification.